CN111060868A - Broadband wireless communication and distance measurement system and method thereof - Google Patents
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Abstract
The invention discloses a broadband wireless communication and ranging system and a method thereof, wherein the system comprises a control module, a ranging data processing module, a framing module, a channel encoder, a modulator, an antenna, a demodulator, a channel decoder, a deframing module and the like, a ranging initiating control and ranging response control mechanism is adopted, and the broadband wireless communication and ranging protocol are combined, so that the integrated design that the same equipment completes two functions of broadband wireless communication and accurate ranging is realized. The invention adopts a distance measuring protocol preprocessing mode to respectively multiplex and tap the initiating data and the response data of the distance measuring protocol, and the answering chain processing ensures the integrity of the single distance measuring process and the accuracy of the distance measuring.
Description
Technical Field
The invention belongs to the field of wireless communication, and particularly relates to a broadband wireless communication and ranging system and a method thereof, which can realize two functions of broadband wireless communication and ranging at the same time.
Background
With the development of technology and the advancement of technology, the demand for large-capacity information transmission is more and more urgent, and at the same time, in some specific fields, such as in modern military war, the increasing severity of accurate distance measurement technology has become a key factor for improving the performance of specific equipment. Modern battlefield informatization enables the function of a battle platform to develop from simplification to cooperation, and various types of equipment are continuously improved, perfected and largely used in the process.
Under the demand for information diversification, the unified design of wireless communication and wireless ranging in some applications (such as ground-air communication) is an indispensable consideration as one of the most important information systems. Therefore, under the condition of reasonable waveform design, the broadband wireless communication and the ranging can realize two functions on the same hardware platform.
The realization modes of wireless communication and ranging are various, the current stage is mainly that narrowband wireless communication is realized by a spread spectrum mode, the mode has the advantages of simple protocol, high range-finding precision and capability of transmitting less service information, but the defect is obvious, the spread spectrum technology is used for exchanging strong correlation during receiving by bandwidth, generally, the spread spectrum multiple reaches dozens to hundreds of times, and the wireless bandwidth can be greatly occupied, so the system adopting the spread spectrum technology is mostly not suitable for being applied to broadband data transmission and is only suitable for a narrowband transmission system, therefore, the mode of realizing the ranging while broadband transmission by using the spread spectrum technology greatly limits the broadband transmission capability.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a system for simultaneously completing broadband information transmission and accurate ranging functions by common-mode processing of broadband service data containing information in the same waveform through single-channel structure framing and unframing; it is still another object of the present invention to provide a method for simultaneously implementing wireless communication and ranging based on the system.
The technical scheme is as follows: the utility model provides a broadband wireless communication and range finding system, includes control module, channel encoder, modulator, antenna, demodulator and the channel decoder of locating initiating terminal and response end respectively, still includes:
the initiating end ranging data processing module is used for sending a ranging initiating data multiplexing instruction to the initiating end framing module and storing the sending time as a first time mark; receiving data sent by a frame decoding module from an initiating terminal;
the initiating end framing module is used for carrying out data multiplexing to form initiating end initiating ranging data containing a frame header and a first time mark, and outputting the initiating end initiating ranging data to a wireless channel after processing;
the response end de-framing module is used for acquiring the initiating end ranging data, and sending the data to the response end ranging data processing module after data tapping;
the response end ranging data processing module is used for receiving the data sent by the response end de-framing module and storing the receiving time as a second time mark; then sending a ranging response data multiplexing command to a response end framing module, and storing the sending time as a third time mark;
the response end framing module is used for multiplexing data to form response end sending ranging data containing a frame header, a second time mark and a third time mark, and outputting the response end sending ranging data to a wireless channel after processing;
the initiating end de-framing module is used for acquiring the responding end transmitting ranging data and a fourth time mark of the acquiring moment, and sending the data to the initiating end ranging data processing module after data tapping;
and the ranging comparator is used for calculating the distance between the initiating terminal and the responding terminal based on the first time mark, the second time mark, the third time mark and the fourth time mark.
The system and the method of the invention generally need two end stations to cooperate to complete, and under the normal condition, the initiating end refers to an initiator of a complete ranging process, and generally refers to a ground end station in the actual use process. The responding end refers to an end station which receives the initiating information and responds to the initiating information, and is generally an air end station. The invention provides two transmission modes of ranging information based on the same invention principle: the first method is based on a first time mark and a second time mark, and a distance comparator of a response end calculates the distance between two end stations according to the first time mark and the second time mark; the second method is based on the third time stamp and the fourth time stamp, and the distance between the two end stations is calculated by the ranging comparator of the initiating end according to the third time stamp and the fourth time stamp. The ranging comparator is a virtual module in the initiating end ranging data processing module and/or the responding end ranging data processing module, obtains the time deviation between two time marks by identifying the two time marks, and further calculates and obtains the distance between the two end stations.
The signal output ends of the initiating end framing module and the responding end framing module are respectively connected with a channel encoder, a modulator, an up-converter and a power amplifier in sequence and then output to a wireless channel.
The signal input ends of the initiating end deframing module and the response end deframing module are respectively connected with a channel decoder, a demodulator, an intermediate frequency amplifier, a down converter and a low noise amplifier in turn, and then are connected with a wireless channel.
The initiating end framing module and/or the responding end framing module are also respectively in data connection with the channel control information output interface and the broadband service information output interface.
The initiating terminal de-framing module and/or the responding terminal de-framing module are also in data connection with the channel control information input interface and the broadband service information input interface.
The initiating end ranging data processing module comprises an initiating end ranging data output interface, a responding end ranging data input interface and a control module interaction interface for ranging protocol transmission;
the response end ranging data processing module comprises a response end ranging data output interface, an initiating end ranging data input interface and a control module interaction interface for ranging protocol transmission;
the ranging protocol refers to a ranging initiation process, a ranging response process and an agreement of transmission and determination of data content, data tapping and data multiplexing and final calculation in each process according to needs.
The data tapping means that the ranging request data or the ranging response data contains frame headers and data, and tapping needs to find the initial position of each type of data according to the frame headers, so that effective data is accurately taken out from a frame format, namely, the data tapping process.
The data multiplexing refers to that frame header information needs to be added to effective request data or effective response data so that a receiving end can perform accurate data positioning, and therefore a frame header needs to be added before each type of data, namely, the data multiplexing process.
The invention provides a method for realizing simultaneous communication and distance measurement of a broadband wireless communication and distance measurement system, which comprises the following steps:
s110: the initiating end ranging data processing module sends a ranging initiating data multiplexing instruction to the initiating end framing module and stores the sending time as a first time markT1；
S120: the initiating end framing module forms a frame containing a frame header and a first time markT1, the initiating end sends ranging data, and the ranging data is processed and output to a wireless channel;
s130: the response end de-framing module acquires the initiating end ranging data, and the data is sent to the response end ranging data processing module after being tapped;
s140: the response end ranging data processing module receives the data sent by the response end de-framing module and stores the receiving time as a second time markT2；
S150: ranging comparator of response end based on first time markT1 and a second time stampT2 calculating the distance between the initiating terminal and the responding terminal:
S[ claim 1 ] light speed [ X ], [T2 - (T1 +t)]，
Wherein,
or
，tRepresenting the time deviation between the ranging initiating terminal and the ranging responding terminal; t3 is the time when the ranging data processing module at the responding end sends the ranging response data multiplexing command to the framing module at the responding end; the T4 originating ranging data processing module receives the time from the originating deframing module when the data was sent.
The initiating end sends ranging data, wherein the ranging data is single-channel data which sequentially comprises a frame header, a first time mark, channel control data and broadband service data.
The method is suitable for acquiring and uploading ranging data by an aerial end station (such as an unmanned aerial vehicle), and the invention also provides a method suitable for acquiring and uploading ranging data by a ground end station, which can realize simultaneous communication and ranging:
s210: the response end ranging data processing module sends a ranging response data multiplexing command to the response end framing module and stores the sending time as a third time markT3；
S220: the response end framing module forms a frame header and a second time markT2 and third time stampT3, sending ranging data by the response end, processing and outputting to a wireless channel;
s230: the initiating end de-framing module acquires the responding end transmitting ranging data, and the data is sent to the initiating end ranging data processing module after being tapped;
s240: the initiating end ranging data processing module receives the data sent by the initiating end deframing module and stores the receiving time as a fourth time markT4；
S250: the distance measuring comparator of the initiating terminal is based on the third time markT3 and fourth time stampT4, calculating the distance between the initiating end and the responding end:
S[ claim 1 ] light speed [ X ], [T4 - (T3 -t)]，
Wherein,
or
，tRepresenting the time deviation between the ranging initiating terminal and the ranging responding terminal; t1 is the time when the ranging initiation data processing module sends the ranging initiation data multiplexing command; t2 is the time when the ranging data processing module at the responder receives the data from the deframing module at the responder.
Wherein the responding endThe ranging data comprises a frame header and a second time mark in sequenceT2 and single channel data of third time mark, channel control data and broadband service data.
The frame header is used for carrying out data identification, which data can be identified according to the frame header, and different data contents can be accurately separated from the data according to the initial position of the frame header.
The first time mark represents a mark of a time when a ranging initiating end sends initiation data, namely the initial time of the whole ranging process; the second time mark represents the moment when the ranging response end receives the data initiated by the ranging initiation end; the third time mark represents the moment when the ranging response end sends the response data; the fourth time mark represents the moment when the ranging initiating end receives the response data of the ranging responding end; time deviationtIndicating the clock offset of the ranging initiation end and the ranging response end. The unit of the time stamp and the time offset is typically nanoseconds.
The modulation mode of the initiating terminal sending ranging data or the responding terminal sending ranging data includes but is not limited to any one of BPSK, QPSK, 16QAM and 64 QAM.
The coding mode of the ranging data sent by the initiating terminal and the ranging data sent by the responding terminal comprises any one of Turbo codes and LDPC codes.
It should be noted that the control module, the ranging data processing module, the framing module, and the deframing module of the system may be independent chips, or may be designed integrally. The channel encoder, the modulator, the antenna, the demodulator and the channel decoder can be designed independently, or can be designed integrally under the condition that hardware resources meet design requirements, or can be designed integrally respectively.
The first time mark of the inventionTThe sending time of 1 is the time of generating the ranging sending data multiplexing command by the initiating terminal control module, which is the beginning of the ranging initiating terminal time sequence calculation, and then the initiating terminal ranging data processing module maps the first time mark and maps the first time mark to the mappingAnd multiplexing the data of the later data. And when data tapping is carried out on the data sent by the frame decoding module at the initiating end, carrying out inverse mapping on the tapped fourth time mark. The above is the work flow of the initiating terminal control module and the initiating terminal ranging data processing module. The workflow of the responding end corresponds to it, and is not described in detail.
It should be particularly noted that, in the data tapping process, the de-framing module executes the inverse processing process of the framing module to separate different functional data received from the same wireless transmission channel. Firstly, finding the initial position of each data according to the frame header, then sequentially extracting time mark data, channel control data and broadband service data from the frame format according to the sequence in the framing module, deleting the frame header, and extracting effective data from the frame structure, thereby completing the transmission of different functional data.
The invention obtains the measured data of the distance between two end stations by calculating the transmission delayDAnd multiplied by the speed of light. Transmission delayDThe derivation formula of (1) is as follows:
the time (first time mark) of sending ranging data from the ranging initiating terminal is taken as the referenceT1And the time mark of the ranging response end at the same time isT1+tTime mark of receiving ranging data from initiating end at ranging responding endT2；
Taking the time of the ranging response terminal as a reference, the time (third time mark) when the ranging response terminal sends the ranging data to the response terminal isT3Time mark of the starting end of the simultaneous distance measurementT3+t(ii) a Time mark for distance measurement initiating terminal to receive distance measurement data sent by responding terminalT4。
The time delay from the ranging initiation end to the ranging initiation end receiving the response reply data, and the delay from the ranging initiation end to the ranging response end and the delay from the ranging response end to the ranging initiation end are bothd/2(ii) a The time deviation between the ranging initiation end and the ranging response end ist。
The following can be expressed according to the above relationship:
solving the above equation yields the time delay and time offset as:
obtaining a transmission delayD=T2- (T1+t) =T4- (T3-t) And the distance between the ranging initiating terminal and the ranging responding terminal can be calculated according to the transmission delay.DI.e. the transmission time of the radio signal calculated from this distance, and hence the distance between the two endsSNamely: speed of light times transmission delayD。
Has the advantages that: the invention combines the broadband wireless communication with the distance measuring protocol, and realizes the integrated design that the same equipment completes two functions of the broadband wireless communication and the accurate distance measuring; the frame header, the time mark and the broadband data are used for forming single-channel data in a common mode, so that the broadband data transmission is facilitated while the accurate distance measurement is carried out; the invention respectively carries out multiplexing and tapping on the initiating data and the response data of the ranging protocol, and the answering chain processing ensures the integrity of the single ranging process and is beneficial to improving the accuracy of ranging. The design does not depend on a spread spectrum technology, and the situation that the ranging data occupy wireless bandwidth is avoided, so that the broadband transmission efficiency is improved.
Drawings
FIG. 1 is a system framework diagram of an initiating end station in example 1;
FIG. 2 is a flow chart of embodiment 2 for simultaneously implementing communication and ranging;
FIG. 3 is a flow chart of embodiment 3 for simultaneously implementing communication and ranging;
FIG. 4 is a schematic diagram of data transmission of a ranging data processing module of the initiating terminal in embodiment 2;
FIG. 5 is a diagram illustrating data transmission of a ranging data processing module of the responder according to embodiment 3;
FIG. 6 is a diagram showing a data structure in which data multiplexing is performed in common in a single channel in example 2;
fig. 7 is a timing diagram of signaling between the initiator and responder according to the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
Example 1
The embodiment provides a broadband wireless communication and ranging system, which is composed of an initiating end station (such as a ground end station) and a responding end station (such as an aerial end station, an unmanned aerial vehicle, etc.), wherein the architectures of the initiating end station and the responding end station are completely the same, and fig. 1 shows an architecture diagram of the initiating end station.
Referring to fig. 1, taking an originating end station as an example, the originating end station includes an originating end control module 1, an originating end ranging data processing module 2, an originating end framing module 3, an originating end channel encoder 4, an originating end modulator 5, an originating end up-converter 6, an originating end power amplifier 7, an originating end antenna 8, an originating end low noise amplifier 9, an originating end down-converter 10, an originating end intermediate frequency amplifier 11, an originating end demodulator 12, an originating end channel decoder 13, an originating end de-framing module 14, and a ranging comparator 15. The design of the responding end station is the same as described above, only in terms of data transmission and protocol differences.
The control module, the ranging data processing module, the framing module and the deframing module in the embodiment are integrally designed on one chip; the channel encoder and the channel decoder adopt the LDPC encoding standard in 802.16 e; the modem adopts a QPSK modulation mode; the antenna is configured to be a directional antenna at a ground station and an omnidirectional antenna in the air.
The embodiment is also provided with an up-converter 6 and a power amplifier 7, the formed baseband data is converted by D/A and then output to the up-converter 6, a one-time frequency conversion mode is adopted, the up-conversion is carried out to 4.4-4.8 GHz to obtain a radio frequency small signal, then the radio frequency small signal is output to the power amplifier 7, 10 watts can be output to the maximum extent, the radio frequency small signal is amplified and then output to an antenna 8, and the antenna 8 radiates the signal after power amplification to a wireless channel.
This embodiment still be equipped with low noise amplifier 9, down converter 10 and intermediate frequency amplifier 11, antenna 8 receives the wireless signal that the range finding was originated and is sent, wireless signal is through low noise amplifier 9, and fixed gain is 30dB, amplifies received signal, and the signal after the amplification passes through down converter 10, adopts the frequency conversion mode once, down converts to intermediate frequency signal (600 MHz), and intermediate frequency signal sends into intermediate frequency amplifier 11, and intermediate frequency amplifier adopts the digital control mode, then after the AD conversion, send to the demodulator.
The system comprises an initiating end control module, an initiating end ranging data processing module 2, a ranging initiating end framing module and a ranging initiating end multiplexing module, wherein the initiating end ranging data processing module is used for sending a ranging initiating data multiplexing command to the initiating end framing module and storing sending time as a first time mark; and receives data subsequently sent from the originating deframing module. The initiating end ranging data processing module comprises an initiating end ranging data output interface, a responding end ranging data input interface and a control module interaction interface for ranging protocol transmission.
The initiating end framing module 3 is used for carrying out data multiplexing to form initiating end initiating ranging data containing frame headers and first time marks, and outputting the initiating end initiating ranging data to a wireless channel after processing;
the response end de-framing module is used for acquiring the initiating end ranging data and a second time mark of the acquisition moment, and sending the data to the response end ranging data processing module after data tapping;
the response end ranging data processing module is used for receiving the data sent by the response end de-framing module and storing the receiving time as a second time mark; and then sends a ranging response data multiplexing command to the response end framing module. The response end ranging data processing module comprises a response end ranging data output interface, an initiating end ranging data input interface and a control module interaction interface for ranging protocol transmission.
The response end framing module is used for multiplexing data to form response end sending ranging data containing a frame header, a second time mark and a third time mark, and outputting the response end sending ranging data to a wireless channel after processing;
the initiating terminal de-framing module 14 is configured to acquire the responding terminal sending ranging data and a fourth time mark of the acquisition time, and send the data to the initiating terminal ranging data processing module after data tapping;
the ranging comparator 15 calculates the distance between the initiating terminal and the responding terminal based on the first time stamp, the second time stamp, the third time stamp, and the fourth time stamp.
The initiating end framing module and/or the responding end framing module are also respectively in data connection with the channel control information output interface and the broadband service information output interface. The initiating terminal de-framing module and/or the responding terminal de-framing module are also in data connection with the channel control information input interface and the broadband service information input interface.
Based on the above framework, the signal output ends of the initiating end framing module and the responding end framing module are respectively connected with the channel encoder, the modulator, the up-converter and the power amplifier in sequence and then output to the wireless channel. The signal input ends of the initiating end deframing module and the responding end deframing module are respectively connected with a channel decoder, a demodulator, an intermediate frequency amplifier, a down converter and a low noise amplifier in turn, and then are connected with a wireless channel.
Example 2
A broadband wireless communication and ranging system according to embodiment 1, wherein the process of transmitting ranging data while performing broadband communication includes:
s110: the initiating end ranging data processing module sends a ranging initiating data multiplexing instruction to the initiating end framing module and stores the sending time as a first time markT1；
S120: the initiating end framing module forms a frame containing a frame header and a first time markT1, the initiating end sends ranging data, and the ranging data is processed and output to a wireless channel;
s130: the response end de-framing module acquires the initiating end ranging data, and the data is sent to the response end ranging data processing module after being tapped;
s140: the response end ranging data processing module receives the data sent by the response end de-framing module and stores the receiving time as a second time markT2；
S150: ranging comparator based on first time stampT1 and a second time stampT2 calculating the distance between the initiating terminal and the responding terminal:
S[ claim 1 ] light speed [ X ], [T2 - (T1 +t)]，
Wherein,tthe time deviation between the ranging initiating end and the ranging responding end is obtained; t3 is the time when the ranging data processing module at the responding end sends the ranging response data multiplexing command to the framing module at the responding end; the T4 originating ranging data processing module receives the time from the originating deframing module when the data was sent.
The method provided by this embodiment is to collect the first time stamp and the second time stamp to the ranging comparator and the control module of the responding end station for calculation, and upload the result. As further shown in fig. 2, fig. 4, and fig. 7, the ranging data of the ranging initiation end includes a first time mark, and after the ranging response end taps out the data, the first time mark and a second time mark of the local time are obtained; and when the ranging response end responds, the response data comprise a second time mark and a third time mark, and after the ranging initiation end taps the response data, the second time mark, the third time mark and a fourth time mark at the local moment are obtained. In the data multiplexing process, the frame header, the first time stamp, the channel control data, and the broadband service information are combined into single-channel data, and the data structure diagram is shown in fig. 6. In the embodiment, the ranging data transmitted by the initiating terminal and the ranging data transmitted by the responding terminal adopt QPSK modulation and LDPC coding,
the data tapping is to identify the data content according to the frame header, when the tapped data is tapped, the corresponding de-framing module extracts each segment of data through identifying the frame header, and deletes the frame header. The initiating end sends ranging data, wherein the ranging data is single-channel data which sequentially comprises a frame header, a first time mark, channel control data and broadband service data.
Example 3
The embodiment provides a method suitable for a ground end station to acquire and upload ranging data, which can realize simultaneous communication and ranging:
s210: the response end ranging data processing module sends a ranging response data multiplexing command to the response end framing moduleBlock and store the transmission time as the third time stampT3；
S220: the response end framing module forms a frame header and a second time markT2 and third time stampT3, sending ranging data by the response end, processing and outputting to a wireless channel;
s230: the initiating end de-framing module acquires the responding end transmitting ranging data, and the data is sent to the initiating end ranging data processing module after being tapped;
s240: the initiating end ranging data processing module receives the data sent by the initiating end deframing module and stores the receiving time as a fourth time markT4；
S250: the ranging comparator is based on the third time markT3 and fourth time stampT4, calculating the distance between the initiating end and the responding end:
S[ claim 1 ] light speed [ X ], [T4 - (T3 -t)]，
Wherein,tthe time deviation between the ranging initiating end and the ranging responding end is obtained; t1 is the time when the ranging initiation data processing module sends the ranging initiation data multiplexing command; t2 is the time when the ranging data processing module at the responder receives the data from the deframing module at the responder.
Claims (12)
1. The utility model provides a broadband wireless communication and range finding system, is including locating control module, channel encoder, modulator, antenna, demodulator and the channel decoder of initiating terminal and response end respectively, its characterized in that still includes:
the initiating end ranging data processing module is used for sending a ranging initiating data multiplexing instruction to the initiating end framing module and storing the sending time as a first time mark; receiving data sent by a frame decoding module from an initiating terminal;
the initiating end framing module is used for carrying out data multiplexing to form initiating end initiating ranging data containing a frame header and a first time mark, and outputting the initiating end initiating ranging data to a wireless channel after processing;
the response end de-framing module is used for acquiring the initiating end ranging data, and sending the data to the response end ranging data processing module after data tapping;
the response end ranging data processing module is used for receiving the data sent by the response end de-framing module and storing the receiving time as a second time mark; then sending a ranging response data multiplexing command to a response end framing module, and storing the sending time as a third time mark;
the response end framing module is used for multiplexing data to form response end sending ranging data containing a frame header, a second time mark and a third time mark, and outputting the response end sending ranging data to a wireless channel after processing;
the initiating end de-framing module is used for acquiring the responding end transmitting ranging data and a fourth time mark of the acquiring moment, and sending the data to the initiating end ranging data processing module after data tapping;
and the ranging comparator is used for calculating the distance between the initiating terminal and the responding terminal based on the first time mark, the second time mark, the third time mark and the fourth time mark.
2. A broadband wireless communication and ranging system according to claim 1, wherein: the signal output ends of the initiating end framing module and the responding end framing module are respectively connected with a channel encoder, a modulator, an up-converter and a power amplifier in sequence and then output to a wireless channel.
3. A broadband wireless communication and ranging system according to claim 2, wherein: the signal input ends of the initiating end deframing module and the response end deframing module are respectively connected with a channel decoder, a demodulator, an intermediate frequency amplifier, a down converter and a low noise amplifier in turn, and then are connected with a wireless channel.
4. A broadband wireless communication and ranging system according to any one of claims 1 to 3, wherein: the initiating end framing module and/or the responding end framing module are also respectively in data connection with the channel control information output interface and the broadband service information output interface.
5. The broadband wireless communication and ranging system of claim 4, wherein: the initiating terminal de-framing module and/or the responding terminal de-framing module are also in data connection with the channel control information input interface and the broadband service information input interface.
6. The broadband wireless communication and ranging system of claim 5, wherein: the initiating end ranging data processing module comprises an initiating end ranging data output interface, a responding end ranging data input interface and a control module interaction interface for ranging protocol transmission;
the response end ranging data processing module comprises a response end ranging data output interface, an initiating end ranging data input interface and a control module interaction interface for ranging protocol transmission.
7. A method for realizing simultaneous communication and ranging of a broadband wireless communication and ranging system is characterized in that:
s110: the initiating end ranging data processing module sends a ranging initiating data multiplexing instruction to the initiating end framing module and stores the sending time as a first time markT1；
S120: the initiating end framing module forms a frame containing a frame header and a first time markT1, the initiating end sends ranging data, and the ranging data is processed and output to a wireless channel;
s130: the response end de-framing module acquires the initiating end ranging data, and the data is sent to the response end ranging data processing module after being tapped;
s140: the response end ranging data processing module receives the data sent by the response end de-framing module and stores the receiving time as a second time markT2；
S150: ranging comparator of response end based on first time markT1 and a second time stampT2 calculating the distance between the initiating terminal and the responding terminal:
S[ claim 1 ] light speed [ X ], [T2 - (T1 +t)]，
Wherein,
or
，tRepresenting the time deviation between the ranging initiating terminal and the ranging responding terminal; t3 is the time when the ranging data processing module at the responding end sends the ranging response data multiplexing command to the framing module at the responding end; the T4 originating ranging data processing module receives the time from the originating deframing module when the data was sent.
8. The method of claim 7, wherein the method comprises: the initiating end initiates the ranging data to be single channel data which sequentially comprises a frame header, a first time mark, channel control data and broadband service data.
9. A method for realizing simultaneous communication and ranging of a broadband wireless communication and ranging system is characterized in that:
s210: the response end ranging data processing module sends a ranging response data multiplexing command to the response end framing module and stores the sending time as a third time markT3；
S220: the response end framing module forms a frame header and a second time markT2 and third time stampT3, sending ranging data by the response end, processing and outputting to a wireless channel;
s230: the initiating end de-framing module acquires the responding end transmitting ranging data, and the data is sent to the initiating end ranging data processing module after being tapped;
s240: the initiating end ranging data processing module receives the data sent by the initiating end deframing module and stores the receiving time as a fourth time markT4；
S250: the distance measuring comparator of the initiating terminal is based on the third time markT3 and fourth time stampT4, calculating the distance between the initiating end and the responding end:
S= light speed curveT4 × (T3 +t)，
Wherein,
or
，tRepresenting the time deviation between the ranging initiating terminal and the ranging responding terminal; t1 is the time when the ranging initiation data processing module sends the ranging initiation data multiplexing command; t2 is the time when the ranging data processing module at the responder receives the data from the deframing module at the responder.
10. The method of claim 9, wherein the method comprises: the ranging data sent by the response end is single-channel data which sequentially comprises a frame header, a second time mark, a third time mark, channel control data and broadband service data.
11. The method for implementing simultaneous communication and ranging in the broadband wireless communication and ranging system according to claim 8 or 10, wherein: the modulation mode of the initiating terminal sending ranging data or the responding terminal sending ranging data comprises any one of BPSK, QPSK, 16QAM and 64 QAM.
12. The method for implementing simultaneous communication and ranging in the broadband wireless communication and ranging system according to claim 8 or 10, wherein: the encoding mode of the ranging data sent by the initiating terminal and the ranging data sent by the responding terminal comprises any one of Turbo codes and LDPC codes.
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